/**
*@note Copyright 2012-2022 CETHIK All Rights Reserved.
*@brief 内置数据结构 
*@author tuyinan
*@data 2022-04-xx
*/
#ifndef COSTMAP_2D_MSG_STRUCT_H_
#define COSTMAP_2D_MSG_STRUCT_H_

#include <stdio.h>
#include <time.h>

#include <vector>
namespace costmap_2d {
struct Point {
  double x;
  double y;
  double z;
};

struct Point32 {
  float x;
  float y;
  float z;
};

struct Quaternion {
  double x;
  double y;
  double z;
  double w;
};

struct Pose {
  costmap_2d::Point position;
  costmap_2d::Quaternion orientation;
};

struct Polygon {
  std::vector<std::vector<__int16_t> > points;
};

struct PointCloud {
  time_t time;
  std::vector<costmap_2d::Point32> points;
};

struct OccupancyGrid {
  time_t time;
  float resolution;
  float width;
  float height;
  costmap_2d::Pose origin;
  std::vector<char> data;
};
}  // namespace costmap_2d
#endif  // COSTMAP_2D_MSG_STRUCT_H_